Control Systems

Lect.5 Reduction of Multiple Subsystems

Basil Hamed
Chapter Learning Outcomes
After completing this chapter the student will be able to:
• Reduce a block diagram of multiple subsystems to a single
block representing the transfer function (Sections 5.1-5.2)
• Analyze and design transient response for a system consisting
of multiple subsystems (Section 5.3)
• Convert block diagrams to signal-flow diagrams (Section 5.4)
• Find the transfer function of multiple subsystems using
Mason's rule (Section 5.5)
• Represent state equations as signal-flow graphs (Section 5.6)
• Perform transformations between similar systems using
transformation matrices;Slate Space and diagonalize a system
matrix (Section 5.8)

Basil Hamed 2
5.1 Introduction
• We have been working with individual subsystems represented
by a block with its input and output. More complicated
systems, however, are represented by the interconnection of
many subsystems.
• Since the response of a single transfer function can be
calculated, we want to represent multiple subsystems as a
single transfer function.
• In this chapter, multiple subsystems are represented in two
ways: as block diagrams and as signal-flow graphs.
• Signal-flow graphs represent transfer functions as lines, and
signals as small circular nodes. Summing is implicit.

Basil Hamed 3
5.2 Block Diagrams
As you already know, a subsystem is represented as a block with
an input, an output, and a transfer function. Many systems are
composed of multiple subsystems, as in Figure below.

Basil Hamed 4
5.2 Block Diagrams
When multiple subsystems are interconnected, a few more
schematic elements must be added to the block diagram. These
new elements are summing junctions and pickoff points. All
component parts of a block diagram for a linear, time-invariant
system are shown in Figure below.

Basil Hamed 5
Cascade Form

Basil Hamed 6
Parallel Form

Basil Hamed 7
Feedback Form
The typical feedback system, is shown in Figure (a); a simplified
model is shown in Figure (b).

Basil Hamed 8
Feedback Form

Basil Hamed 9
Moving Blocks to Create Familiar
Forms
This subsection will discuss basic block moves that can be made
in order to establish familiar forms when they almost exist. In
particular, it will explain how to move blocks left and right past
summing junctions and pickoff points.

Basil Hamed 10
Moving Blocks to Create Familiar
Forms

Basil Hamed 11
Example 5.1P.242
PROBLEM: Reduce the block diagram shown to a single T.F.

Basil Hamed 12
Example 5.1P.242
SOLUTION:

Basil Hamed 13
Example 5.2 P.243
PROBLEM: Reduce the system shown to a single T.F.

Basil Hamed 14
Example 5.2 P.243
SOLUTION:

Basil Hamed 15
Example 5.2 P.243

Basil Hamed 16
5.3 Analysis and Design of Feedback
Systems
Consider the system shown, which can model a control system
such as the antenna azimuth position control system.

where K models the amplifier gain, that is, the ratio of the
output voltage to the input voltage.

Basil Hamed 17
5.3 Analysis and Design of Feedback
Systems
As  K varies, the poles move through the three ranges of
operation of a second-order system:
• overdamped,
• critically damped, and
• underdamped.
For example, for K between 0 and /4, the poles of the system are
real and are located at

 AsK increases, the poles move along the real axis, and the system
remains overdamped until K = /4.
Basil Hamed 18
5.3 Analysis and Design of Feedback
Systems
• At
  K = /4 , both poles are real and equal, and the system is
critically damped

• For gains above /4 , the system is underdamped, with

complex poles located at

Basil Hamed 19
Example 5.3 P. 246
PROBLEM: For the system shown, find the peak time, percent
overshoot, and settling time.

Solution: The closed-loop transfer function found

Basil Hamed 20
Example 5.3 P. 246

Basil Hamed 21
Example 5.4 P 246
PROBLEM: Design the value of gain. K, for the feedback
control system of Figure below so that the system will respond
with a 10% overshoot.

SOLUTION: The closed-loop transfer function of the system is

Basil Hamed 22
Example 5.4 P 246

A 10% overshoot implies that ξ = 0.591. Substituting this value for the
damping ratio into above Eq. and solving for K yields;
K=17.9

Basil Hamed 23
5.4 Signal-Flow Graphs
• Signal-flow graphs are an alternative to block diagrams.
• Unlike block diagrams, which consist of blocks, signals,
summing junctions, and pickoff points, a signal-flow graph
consists only of
branches, which represent systems, and
nodes, which represent signals.

Basil Hamed 24
 Example 5.5 P. 249
PROBLEM: Convert the cascaded, parallel, and feedback forms of the
block diagrams shown in Figures below, respectively, into signal-flow
graphs.

25
Basil Hamed
Example 5.5 P. 249
SOLUTION: In each case, we start by drawing the signal nodes for that
system. Next we interconnect the signal nodes with system branches.

Basil Hamed 26
Example 5.5 P. 249

Basil Hamed 27
Example 5.5 P. 249

Basil Hamed 28
Example 5.6 P 250
PROBLEM: Convert the block diagram shown to a signal-flow
graph.

Basil Hamed 29
Example 5.6 P 250

Basil Hamed 30
5.5 Mason's Rule
• In this section will discuss a technique for reducing signal-
flow graphs to single transfer functions that relate the output
of a system to its input.
• The block diagram reduction technique we studied in Section
5.2 requires successive application of fundamental
relationships in order to arrive at the system transfer function.
• On the other hand, Mason's rule for reducing a signal-flow
graph to a single transfer function requires the application of
one formula.

Basil Hamed 31
5.5 Mason's Rule
Mason's formula has several components that must be evaluated. First,
we must be sure that the definitions of the components are well
understood.
Definitions
Input Node(Source): is anode that has only outgoing branches
Output Node (Sink): is anode that has only incoming branches.
Path: is continuous connection of branches from one node to
another with arrowhead in the same direction.
Forward Path: is a path connects a source node to a sink node.
Loop: is closed path(originate and terminates on the same node).
Path gain: is the product of T.F of all branches that form path.
Loop Gain: is the product of T.F of all branches that form loop.

Basil Hamed 32
5.5 Mason's Rule
The transfer function, C(s)/R(s), of a system represented by a
signal-flow graph is
  𝑃
𝐶 (𝑠) 1
𝐺 ( 𝑠 )= = ∑ 𝑀 𝑘 ∆𝑘
𝑅 (𝑠) ∆ 𝑘 =1
 P= number of forward paths
= the kth forward-path gain

= 1 - gains + -loop gains taken two at a time -

-loop gains taken three at a time + ...

gain terms in that touch the kth forward path. In other words, is
formed by eliminating from those loop gains that touch the kth forward
path.
Basil Hamed 33
Example 5.7 P 252
PROBLEM: Find the transfer function, C(s)/R(s) for the signal-
flow graph shown below

Basil Hamed 34
Example 5.7 P 252
Solution:
  P=1; = , Loops=4

Nontouching loops taken two at time Nontouching loops taken three at time

Basil Hamed 35
Example 5.7 P 252

Basil Hamed 36
Example
Find T.F C(s)/R(s)

Basil Hamed 37
Example
Find T.F y7 /y1

Basil Hamed 38
 5.6 Signal-Flow Graphs of State
Equations
In this section, we draw signal-flow graphs from state equations.
Consider the following state and output equations:

First, identify three nodes to be the three state variables, X1, X2, and
X3; also identify three nodes, placed to the left of each respective state
variable, to be the derivatives of the state variables,

Basil Hamed 39
5.6 Signal-Flow Graphs of State
Equations

Basil Hamed 40
5.7 Alternative Representations in State
Space
In Chapter 3, systems were represented in state space in:
Direct Form
Cascade Form
Parallel Form
system modeling in state space can take on many representations.
Although each of these models yields the same output for a given
input, an engineer may prefer a particular one for several reasons.

Basil Hamed 41
Example
Find state space model using parallel form for shown system

Solution

Basil Hamed 42
5.8 Similarity Transformations
• we saw that systems can be represented with different state
variables even though the transfer function relating the output
to the input remains the same. These systems are called
similar systems.
• We can make transformations between similar systems from
one set of state equations to another without using the
transfer function and signal-flow graphs.
A system represented in state space as

Basil Hamed 43
5.8 Similarity Transformations
can be transformed to a similar system,

where, for 2 space,

and

Basil Hamed 44
Example 5.9 P. 267
PROBLEM: Given the system represented in state space by Eqs.

transform the system to a new set of state variables, z, where the new
state variables are related to the original state variables, x, as follows:

Basil Hamed 45
 Example 5.9 P. 267

SOLUTION:

Therefore, the transformed

system is

Basil Hamed 46
Diagonalizing a System Matrix
• In
  Section 5.7, we saw that the parallel form of a signal-flow
graph can yield a diagonal system matrix. A diagonal system
matrix has the advantage that each state equation is a
function of only one state variable. Hence, each differential
equation can be solved independently of the other equations.
We say that the equations are decoupled.

• Rather than using partial fraction expansion and signal-flow

graphs, we can decouple a system using matrix
transformations. If we find the correct matrix, P, the
transformed system matrix, AP, will be a diagonal matrix.
Where P is eigenvector

Basil Hamed 47
Diagonalizing a System Matrix
Eigenvector:
  The eigenvectors of the matrix A are all vectors, ,
which under the transformation A become multiples of
themselves; that is,

 The eigenvalues of the matrix A are the values of A,- that satisfy
above Eq. for .
To find the eigenvectors, we rearrange above Eq. Eigenvectors, ,
satisfy

Basil Hamed 48
Example 5.10 P. 269

PROBLEM: Find the eigenvectors of the matrix

 SOLUTION: The eigenvectors, , satisfy .

First, use to find the eigenvalues, :

 from which the eigenvalues are = -2, and -4.

Basil Hamed 49
Example 5.10 P. 269
Using Eq
1 −1 𝑥11 0
  =-2 (  λ𝑖 𝐼 − 𝐴 ) 𝑥 𝑖= [ ][ ] [ ] =
−1 1 𝑥 21 0

   𝑥11 =𝑥 21

 𝑥 = 1
1 [ 1]
−1 −1 𝑥12 0
  =-4 (  λ𝑖 𝐼 − 𝐴 ) 𝑥 𝑖=
[ ][ ] [ ]=
−1 −1 𝑥22 0

    1
𝑥2 =
[ ]
−1
  x

Basil Hamed 50
Example 5.11 P 270
PROBLEM: Given the system shown, find the diagonal system
that is similar.

SOLUTION: First find the eigenvalues and the eigenvectors. This step
was performed in Example 5.10. Next form the transformation matrix P,
whose columns consist of the eigenvectors.
  P= x

Basil Hamed 51
Example 5.11 P 270

diagonal system is

Basil Hamed 52
Example
Find
  the diagonal matrix

 Solution eigenvalues are =-1, =-2, =-3

  −1 −1 0 𝑃 11 0
λ1 =− 1 , 0
6 [ −1
11
−1
5 ][ ] [ ]
𝑃 21 = 0
𝑃 31 0
  1
[ ]
𝑃 1= − 1
1

  Same way we find: , ,

  −1 0 0
𝑃
−1

[
𝐴𝑃 = 0
0
−2
0
0
−3
Basil Hamed
] 53